Sistema de captura para la imitación del movimiento humano por un robot planar de base fija

This paper shows the implementation of a motion capture system of low cost, using Kinect for imitation of movement in the frontal plane with a fixed base planar robot. The inverse kinematics for mapping human motion through Cartesian coordinates (x, y, z) provided by sensor and turn them into joint...

Full description

Saved in:

Bibliographic Details
Main Authors:	Bravo M., Diego A., Rengifo R., Carlos F.
Format:	Digital
Language:	spa
Published:	UNIVERSIDAD ANTONIO NARIÑO 2014
Subjects:	Captura de movimiento Kinect Robot Modelos biomecánicos Motion Capture biomechanical models
Online Access:	https://revistas.uan.edu.co/index.php/ingeuan/article/view/384
Tags:	Add Tag No Tags, Be the first to tag this record!

Description
Summary:	This paper shows the implementation of a motion capture system of low cost, using Kinect for imitation of movement in the frontal plane with a fixed base planar robot. The inverse kinematics for mapping human motion through Cartesian coordinates (x, y, z) provided by sensor and turn them into joint coordinates (q1 , q2 , ..., q9 ), which are the angular positions of reference for the robot. These reference trajectories were used to imitate human movement by a planar robot with nine degrees of freedom.